\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.89 \% & 94.55 \% & 92.03 \%\\
Car (Orientation) & 95.87 \% & 94.44 \% & 91.86 \%\\
Car (3D Detection) & 89.66 \% & 81.35 \% & 76.82 \%\\
Car (Bird's Eye View) & 92.45 \% & 90.02 \% & 85.86 \%\\
Pedestrian (Detection) & 63.95 \% & 55.04 \% & 52.93 \%\\
Pedestrian (Orientation) & 60.31 \% & 50.97 \% & 48.62 \%\\
Pedestrian (3D Detection) & 43.66 \% & 38.54 \% & 36.53 \%\\
Pedestrian (Bird's Eye View) & 47.87 \% & 43.46 \% & 41.53 \%\\
Cyclist (Detection) & 89.03 \% & 79.54 \% & 73.17 \%\\
Cyclist (Orientation) & 88.89 \% & 79.16 \% & 72.76 \%\\
Cyclist (3D Detection) & 82.20 \% & 65.30 \% & 58.83 \%\\
Cyclist (Bird's Eye View) & 83.03 \% & 69.56 \% & 62.74 \%
\end{tabular}